Levelset.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/ArrayND.h"
#include "Chaos/Box.h"
#include "Chaos/ImplicitObject.h"
#include "Chaos/ImplicitObjectScaled.h"
#include "Chaos/Particles.h"
#include "Chaos/UniformGrid.h"
 
namespace Chaos { class FErrorReporter; }
 
struct FKLevelSetElem;
 
namespace Chaos
{
 
struct FMTDInfo;
 
class FTriangleMesh;
 
template<class T, int D>
class TPlane;
 
class FCapsule;
 
class FConvex;
 
class FLevelSet final : public FImplicitObject
{
  public:
    using FImplicitObject::SignedDistance;
 
    CHAOS_API FLevelSet(FErrorReporter& ErrorReporter, const TUniformGrid<FReal, 3>& InGrid, const FParticles& InParticles, const FTriangleMesh& Mesh, const int32 BandWidth = 0);
    CHAOS_API FLevelSet(FErrorReporter& ErrorReporter, const TUniformGrid<FReal, 3>& InGrid, const FImplicitObject& InObject, const int32 BandWidth = 0, const bool bUseObjectPhi = false);
#if COMPILE_WITHOUT_UNREAL_SUPPORT
    FLevelSet(std::istream& Stream);
#endif
    CHAOS_API FLevelSet(TUniformGrid<FReal, 3>&& Grid, TArrayND<FReal, 3>&& Phi, int32 BandWidth);
    FLevelSet(const FLevelSet& Other) = delete;
    CHAOS_API FLevelSet(FLevelSet&& Other);
    CHAOS_API virtual ~FLevelSet();
 
    CHAOS_API virtual Chaos::FImplicitObjectPtr CopyGeometry() const override;
    CHAOS_API virtual Chaos::FImplicitObjectPtr CopyGeometryWithScale(const FVec3& Scale) const override;
 
#if COMPILE_WITHOUT_UNREAL_SUPPORT
    CHAOS_API void Write(std::ostream& Stream) const;
#endif
    CHAOS_API virtual FReal PhiWithNormal(const FVec3& x, FVec3& Normal) const override;
    CHAOS_API FReal SignedDistance(const FVec3& x) const;
 
    virtual const FAABB3 BoundingBox() const override { return MLocalBoundingBox; }
 
    // Returns a const ref to the underlying phi grid
    const TArrayND<FReal, 3>& GetPhiArray() const { return MPhi; }
 
    // Returns a const ref to the underlying grid of normals
    const TArrayND<FVec3, 3>& GetNormalsArray() const { return MNormals; }
 
    // Returns a const ref to the underlying grid structure
    const TUniformGrid<FReal, 3>& GetGrid() const { return MGrid; }
 
    FORCEINLINE void Shrink(const FReal Value)
    {
        for (int32 i = 0; i < MGrid.Counts().Product(); ++i)
        {
            MPhi[i] += Value;
        }
    }
 
    FORCEINLINE static constexpr EImplicitObjectType StaticType()
    {
        return ImplicitObjectType::LevelSet;
    }
 
    FORCEINLINE void SerializeImp(FArchive& Ar)
    {
        FImplicitObject::SerializeImp(Ar);
        Ar << MGrid;
        Ar << MPhi;
        Ar << MNormals;
        TBox<FReal, 3>::SerializeAsAABB(Ar, MLocalBoundingBox);
        TBox<FReal, 3>::SerializeAsAABB(Ar, MOriginalLocalBoundingBox);
        Ar << MBandWidth;
    }
 
    virtual void Serialize(FChaosArchive& Ar) override
    {
        SerializeImp(Ar);
    }
 
    virtual void Serialize(FArchive& Ar) override
    {
        SerializeImp(Ar);
    }
 
    FReal ApproximateNegativeMaterial() const
    {
        const FVec3& CellDim = MGrid.Dx();
        const FReal AvgRadius = (CellDim[0] + CellDim[1] + CellDim[2]) / (FReal)3;
        const FReal CellVolume = CellDim.Product();
        FReal Volume = 0.0;
        for (int32 Idx = 0; Idx < MPhi.Num(); ++Idx)
        {
            const FReal Phi = MPhi[Idx];
            if (Phi <= 0.0)
            {
                FReal CellRadius = AvgRadius - FMath::Abs(Phi);
 
                if(CellRadius > UE_KINDA_SMALL_NUMBER)
                {
                    const FReal Scale = FMath::Min((FReal)1, CellRadius / AvgRadius);
                    Volume += CellVolume * Scale;
                }
                else
                {
                    Volume += CellVolume;
                }
            }
        }
        return Volume;
    }
 
    CHAOS_API bool ComputeMassProperties(FReal& OutVolume, FVec3& OutCOM, FMatrix33& OutInertia, FRotation3& OutRotationOfMass) const;
 
    CHAOS_API FReal ComputeLevelSetError(const FParticles& InParticles, const TArray<FVec3>& Normals, const FTriangleMesh& Mesh, FReal& AngleError, FReal& MaxDistError);
 
    // Output a mesh and level set as obj files
    CHAOS_API void OutputDebugData(FErrorReporter& ErrorReporter, const FParticles& InParticles, const TArray<FVec3>& Normals, const FTriangleMesh& Mesh, const FString FileName);
 
    CHAOS_API bool CheckData(FErrorReporter& ErrorReporter, const FParticles& InParticles, const FTriangleMesh& Mesh, const TArray<FVec3> &Normals);
 
    // Used to generate a simple debug surface
    CHAOS_API void GetZeroIsosurfaceGridCellFaces(TArray<FVector3f>& Vertices, TArray<FIntVector>& Tris) const;
    CHAOS_API void GetInteriorCells(TArray<TVec3<int32>>& InteriorCells, const FReal InteriorThreshold) const;
 
    virtual uint32 GetTypeHash() const override
    {
        uint32 Result = 0;
 
        const int32 NumValues = MPhi.Num();
 
        for(int32 Index = 0; Index < NumValues; ++Index)
        {
            Result = HashCombine(Result, ::GetTypeHash(MPhi[Index]));
        }
 
        return Result;
    }
 
 
    CHAOS_API bool SweepGeom(const FSphere& QueryGeom, const FRigidTransform3& StartTM, const FVec3& Dir, const FReal Length, FReal& OutTime, FVec3& OutPosition, FVec3& OutNormal, int32& OutFaceIndex, const FReal Thickness = 0, const bool bComputeMTD = false) const;
    CHAOS_API bool SweepGeom(const TBox<FReal, 3>& QueryGeom, const FRigidTransform3& StartTM, const FVec3& Dir, const FReal Length, FReal& OutTime, FVec3& OutPosition, FVec3& OutNormal, int32& OutFaceIndex, const FReal Thickness = 0, const bool bComputeMTD = false) const;
    CHAOS_API bool SweepGeom(const FCapsule& QueryGeom, const FRigidTransform3& StartTM, const FVec3& Dir, const FReal Length, FReal& OutTime, FVec3& OutPosition, FVec3& OutNormal, int32& OutFaceIndex, const FReal Thickness = 0, const bool bComputeMTD = false) const;
    CHAOS_API bool SweepGeom(const FConvex& QueryGeom, const FRigidTransform3& StartTM, const FVec3& Dir, const FReal Length, FReal& OutTime, FVec3& OutPosition, FVec3& OutNormal, int32& OutFaceIndex, const FReal Thickness = 0, const bool bComputeMTD = false) const;
 
    CHAOS_API bool SweepGeom(const TImplicitObjectScaled<FSphere>& QueryGeom, const FRigidTransform3& StartTM, const FVec3& Dir, const FReal Length, FReal& OutTime, FVec3& OutPosition, FVec3& OutNormal, int32& OutFaceIndex, const FReal Thickness = 0, const bool bComputeMTD = false) const;
    CHAOS_API bool SweepGeom(const TImplicitObjectScaled<TBox<FReal, 3>>& QueryGeom, const FRigidTransform3& StartTM, const FVec3& Dir, const FReal Length, FReal& OutTime, FVec3& OutPosition, FVec3& OutNormal, int32& OutFaceIndex, const FReal Thickness = 0, const bool bComputeMTD = false) const;
    CHAOS_API bool SweepGeom(const TImplicitObjectScaled<FCapsule>& QueryGeom, const FRigidTransform3& StartTM, const FVec3& Dir, const FReal Length, FReal& OutTime, FVec3& OutPosition, FVec3& OutNormal, int32& OutFaceIndex, const FReal Thickness = 0, const bool bComputeMTD = false) const;
    CHAOS_API bool SweepGeom(const TImplicitObjectScaled<FConvex>& QueryGeom, const FRigidTransform3& StartTM, const FVec3& Dir, const FReal Length, FReal& OutTime, FVec3& OutPosition, FVec3& OutNormal, int32& OutFaceIndex, const FReal Thickness = 0, const bool bComputeMTD = false) const;
 
    template<typename QueryGeomType>
    bool SweepGeomImp(const QueryGeomType& QueryGeom, const FRigidTransform3& StartTM, const FVec3& Dir, const FReal Length, FReal& OutTime, FVec3& OutPosition, FVec3& OutNormal, int32& OutFaceIndex, const FReal Thickness, const bool bComputeMTD) const;
 
    CHAOS_API bool OverlapGeom(const FSphere& QueryGeom, const FRigidTransform3& QueryTM, const FReal Thickness, FMTDInfo* OutMTD = nullptr) const;
    CHAOS_API bool OverlapGeom(const TBox<FReal, 3>& QueryGeom, const FRigidTransform3& QueryTM, const FReal Thickness, FMTDInfo* OutMTD = nullptr) const;
    CHAOS_API bool OverlapGeom(const FCapsule& QueryGeom, const FRigidTransform3& QueryTM, const FReal Thickness, FMTDInfo* OutMTD = nullptr) const;
    CHAOS_API bool OverlapGeom(const FConvex& QueryGeom, const FRigidTransform3& QueryTM, const FReal Thickness, FMTDInfo* OutMTD = nullptr) const;
 
    CHAOS_API bool OverlapGeom(const TImplicitObjectScaled<FSphere>& QueryGeom, const FRigidTransform3& QueryTM, const FReal Thickness, FMTDInfo* OutMTD = nullptr) const;
    CHAOS_API bool OverlapGeom(const TImplicitObjectScaled<TBox<FReal, 3>>& QueryGeom, const FRigidTransform3& QueryTM, const FReal Thickness, FMTDInfo* OutMTD = nullptr) const;
    CHAOS_API bool OverlapGeom(const TImplicitObjectScaled<FCapsule>& QueryGeom, const FRigidTransform3& QueryTM, const FReal Thickness, FMTDInfo* OutMTD = nullptr) const;
    CHAOS_API bool OverlapGeom(const TImplicitObjectScaled<FConvex>& QueryGeom, const FRigidTransform3& QueryTM, const FReal Thickness, FMTDInfo* OutMTD = nullptr) const;
 
    template<typename QueryGeomType>
    bool OverlapGeomImp(const QueryGeomType& QueryGeom, const FRigidTransform3& QueryTM, const FReal Thickness, FMTDInfo* OutMTD = nullptr) const;
 
  private:
    CHAOS_API bool ComputeDistancesNearZeroIsocontour(FErrorReporter& ErrorReporter, const FParticles& InParticles, const TArray<FVec3> &Normals, const FTriangleMesh& Mesh, TArrayND<bool, 3>& BlockedFaceX, TArrayND<bool, 3>& BlockedFaceY, TArrayND<bool, 3>& BlockedFaceZ, TArray<TVec3<int32>>& InterfaceIndices);
    CHAOS_API void ComputeDistancesNearZeroIsocontour(const FImplicitObject& Object, const TArrayND<FReal, 3>& ObjectPhi, TArray<TVec3<int32>>& InterfaceIndices);
    CHAOS_API void CorrectSign(const TArrayND<bool, 3>& BlockedFaceX, const TArrayND<bool, 3>& BlockedFaceY, const TArrayND<bool, 3>& BlockedFaceZ, TArray<TVec3<int32>>& InterfaceIndices);
    CHAOS_API FReal ComputePhi(const TArrayND<bool, 3>& Done, const TVec3<int32>& CellIndex);
    CHAOS_API void FillWithFastMarchingMethod(const FReal StoppingDistance, const TArray<TVec3<int32>>& InterfaceIndices);
    CHAOS_API void FloodFill(const TArrayND<bool, 3>& BlockedFaceX, const TArrayND<bool, 3>& BlockedFaceY, const TArrayND<bool, 3>& BlockedFaceZ, TArrayND<int32, 3>& Color, int32& NextColor);
    CHAOS_API void FloodFillFromCell(const TVec3<int32> CellIndex, const int32 NextColor, const TArrayND<bool, 3>& BlockedFaceX, const TArrayND<bool, 3>& BlockedFaceY, const TArrayND<bool, 3>& BlockedFaceZ, TArrayND<int32, 3>& Color);
    CHAOS_API bool IsIntersectingWithTriangle(const FParticles& Particles, const TVec3<int32>& Elements, const TPlane<FReal, 3>& TrianglePlane, const TVec3<int32>& CellIndex, const TVec3<int32>& PrevCellIndex);
    CHAOS_API void ComputeNormals();
    CHAOS_API void ComputeConvexity(const TArray<TVec3<int32>>& InterfaceIndices);
    
    CHAOS_API void ComputeNormals(const FParticles& InParticles, const FTriangleMesh& Mesh, const TArray<TVec3<int32>>& InterfaceIndices);
 
    TUniformGrid<FReal, 3> MGrid;
    TArrayND<FReal, 3> MPhi;
    TArrayND<FVec3, 3> MNormals;
    FAABB3 MLocalBoundingBox;
    FAABB3 MOriginalLocalBoundingBox;
    int32 MBandWidth;
private:
    FLevelSet() : FImplicitObject(EImplicitObject::HasBoundingBox, ImplicitObjectType::LevelSet) {} //needed for serialization
    friend FImplicitObject; //needed for serialization
    friend ::FKLevelSetElem; //needed for serialization
};
 
template <typename T, int d>
using TLevelSet UE_DEPRECATED(4.27, "Deprecated. this class is to be deleted, use FLevelSet instead") = FLevelSet;
}